Systems and methods for dynamically triggering independent stator coils to control pitch of a rotor blade

ABSTRACT

Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure is a continuation of P.C.T. Application No.PCT/US2019/027938, titled “SYSTEMS AND METHODS OF VERTICAL TAKEOFF ANDLANDING USING MAGNETIC LEVITATION,” filed Apr. 17, 2019, which claimsthe benefit of and priority to U.S. Provisional Application No.62/659,013, titled “SYSTEMS AND METHODS FOR VERTICAL TAKEOFF AND LANDINGWITH MAGNETIC PROPULSION,” filed Apr. 17, 2018, and U.S. ProvisionalApplication No. 62/775,253, titled “MAGNETIC LEVITATION FOR VERTICALTAKEOFF AND LANDING,” filed Dec. 4, 2018, the disclosures of which areincorporated herein by reference in their entireties.

TECHNICAL FIELD

The present disclosure relates generally to vertical takeoff andlanding. More particularly, the present disclosure relates to magneticlevitation for vertical takeoff and landing.

BACKGROUND

Various airborne platforms can perform vertical takeoff and landing(VTOL), in which the platforms can hover, take off, and land vertically.VTOL platforms can include fixed wing platforms and rotary wingplatforms. VTOL platforms can include unmanned aerial vehicles. VTOLplatforms can have distributed electrical propulsion, and can have tiltrotor and/or tilt wing configurations.

Typically, VTOL platforms rely on combustion-based power generation togenerate lift and other movement forces. In addition, VTOL platforms mayhave relatively large form factors. As such, existing VTOL platforms mayhave technical limitations that make such platforms difficult to use inurban environments and personal use modes.

SUMMARY

At least one aspect of the present disclosure relates to a VTOLplatform. The VTOL platform includes a rotor, a stator, a flightcontroller, and a motor controller. The rotor includes a plurality ofrotor blades oriented about a rotor axis and radially spaced from thestator. Each rotor blade is coupled to a rotor arm such that rotation ofthe rotor arm causes the rotor blade to rotate about a rotor pitch axis.The rotor arm is coupled to a first rotor magnet spaced from a secondrotor magnet. The stator includes a plurality of electromagnets. Theflight controller is configured to receive a movement instruction,extract a desired movement from the movement instruction, and generateone or more flight commands configured to cause the rotor to generate atleast one of thrust, moment of force about a yaw axis, moment of forceabout a platform pitch axis, or moment of force about a roll axis. Themotor controller is configured to receive the one or more flight controlcommands and drive electrical signals through the electromagnets basedon the one or more flight control commands. The plurality ofelectromagnets are configured to output electromagnetic fieldscorresponding to the electrical signals to drive the rotor magnets ofthe rotor to rotate the rotor about the rotor axis, rotate the rotorblade about the blade neutral pitch axis, and cause the rotor togenerate the at least one of the thrust, the moment of force about theyaw axis, the moment of force about the platform pitch axis, or themoment of force about the platform roll axis.

At least one aspect of the present disclosure relates to a rotor foroperation with a stator. The rotor includes an annular rotor basedefining a rotational axis and comprising a plurality of rotor segmentsarranged around the stator. Each rotor segment includes a sidewallspaced from the rotational axis, a first rotor wall extending from afirst end of the sidewall and towards the rotational axis, and a secondrotor wall extending from a second end of the sidewall and towards therotational axis, the second rotor wall spaced from the first rotor wall,the rotor defining a rotor axis through the first rotor wall and thesecond rotor wall and parallel to the rotational axis. Each rotorsegment includes at least one first rotor magnet coupled with the firstrotor wall, the at least one first rotor magnet configured to maintain afirst space between the first rotor wall and a first stator magnet alongthe rotor axis. Each rotor segment includes at least one second rotormagnet coupled with the second rotor wall, the at least one second rotormagnet configured to maintain a second space between the second rotorwall and a second stator magnet along the rotor axis. Each rotor segmentincludes at least one third rotor magnet coupled with the sidewall andspaced from one or more propulsion magnets of the stator. The rotor isconfigured to be driven by the propulsion magnets via a magnetic fieldof the one or more propulsion magnets interacting with the at least onethird rotor magnet.

At least one aspect relates to a stator for operation with a rotor. Thestator includes an annular stator base comprising a plurality of statorsegments, the stator base defining a central axis. Each stator segmentincludes a sidewall, a support structure extending from the sidewall, atleast one first stator magnet coupled with a first surface of thesupport structure, at least one second stator magnet coupled with asecond surface of the support structure opposite the first surface, andat least one propulsion magnet. The at least one first stator magnet andthe at least one second stator magnet define a stator axis parallel tothe central axis, the at least one first stator magnet configured tomaintain a first space between a first rotor magnet of the rotor and theat least one first stator magnet along the stator axis, and the at leastone second stator magnet configured to maintain a second space between asecond rotor magnet of the rotor and the at least one second statormagnet along the stator axis. The at least one propulsion magnet iscoupled with the support structure and spaced from one or more thirdrotor magnets of the rotor, the at least one propulsion magnetconfigured to output a magnetic field responsive to a control signal todrive the rotor about the central axis.

At least one aspect relates to a rotor control system. The rotor controlsystem includes a rotor and a stator. The rotor includes a first rotormagnetic component aligned with one or more first stator coils, a secondrotor magnetic component aligned with one or more second stator coilsand adjacent to the first rotor magnetic component, an arm connectingthe first rotor magnetic component and the second rotor magneticcomponent, and a first rotor blade fixed to the arm. A first arm end ofthe is arm coupled with the first rotor magnetic component and a secondarm end of the arm coupled with the second rotor magnetic componentdefining an arm angle which changes based on a first magnetic forceapplied to the first rotor magnetic component relative to a secondmagnetic force applied to the second rotor magnetic component. The firstrotor blade extends from the arm along a blade pitch axis, the firstrotor blade defining a blade pitch angle relative to the blade pitchaxis, the blade pitch angle corresponding to the arm angle. The statorincludes a plurality of electromagnets configured to output at least afirst magnetic field that drives the first rotor magnetic component anda second magnetic field that drives the second rotor magnetic componentresponsive to at least one control signal, the at least one controlsignal causing the first magnetic field to apply the first magneticforce on the first rotor magnetic component and the second magneticfield to apply the second magnetic force on the second magneticcomponent to control the blade pitch angle.

At least one aspect relates to a rotor control system. The rotor controlsystem includes a rotor and a stator. The rotor includes an annularrotor base defining a rotational axis and comprising a plurality ofrotor segments arranged around the stator. Each rotor segment includes afirst rotor blade configured to be rotated about a blade pitch axisperpendicular to the rotational axis, a power receiver circuit, a motorthat rotates using power received via the power receiver circuit forrotating the first rotor blade about the blade pitch axis, a motorcontroller that provides a motor signal to the motor for rotating thefirst rotor blade about the blade pitch axis responsive to a controlsignal, and a first wireless transceiver that receives the controlsignal and provides the control signal to the motor controller. Thestator includes a second wireless transceiver that receives a controlcommand and wirelessly transmits the control signal to the firstwireless transceiver based on the control command, and a powertransmitter circuit that outputs a magnetic field that interacts withthe power receiver circuit to provide power to the power receivercircuit.

At least one aspect relates to a system. The system includes a rotor anda stator. The rotor includes a sidewall, a first rotor wall extendingfrom a first end of the sidewall, and a second rotor wall extending froma second end of the sidewall, the second rotor wall spaced from thefirst rotor wall, at least one first rotor magnet coupled with the firstrotor wall, and at least one second rotor magnet coupled with the secondrotor wall. The stator includes a support structure extending betweenthe first rotor wall and second rotor wall, at least one first statormagnet coupled with a first surface of the support structure andproximate to the at least one first rotor magnet, the at least one firstrotor magnet inducing a current in the at least one first stator magnetcorresponding to a first distance between the at least one first statormagnet and at least one first rotor magnet, and at least one secondstator magnet coupled with a second surface of the support structureopposite the first surface and proximate to the at least one secondrotor magnet, the at least one second stator magnet electrically coupledwith the at least one first stator magnet to receive the current fromthe first stator magnet, the at least one second stator magnetoutputting a magnetic field having a magnetic field strength based onthe current from the first stator magnet, the magnetic field interactingwith the at least one second rotor magnet to control a second distancebetween the at least one second stator magnet and the at least onesecond rotor magnet.

At least one aspect relates to a system. The system includes a rotor anda stator. The rotor includes a sidewall, a rotor wall extending from anend of the sidewall, and at least one rotor magnet coupled with therotor wall. The stator includes a support structure adjacent the rotorwall, a first stator magnet coupled with a surface of the supportstructure proximate to the at least one rotor magnet, the at least onerotor magnet inducing a current in the first stator magnet correspondingto a first magnetic force of a first magnetic field between the firststator magnet and the at least one rotor magnet, and a second statormagnet coupled to the surface of the support structure, the secondstator magnet electrically coupled to the first stator magnet, thesecond stator magnet receiving the current from the first stator magnetto control a second magnetic force of a second magnetic field betweenthe second stator magnet and the at least one rotor magnet.

At least one aspect relates to a system. The system includes a rotor anda stator. The rotor includes a rotor sidewall defining a rotationalaxis, at least one rotor blade coupled with and transverse the sidewallalong a first surface of the sidewall, and a rotor magnet coupled withthe sidewall along a second surface of the rotor sidewall opposite thefirst surface. The stator includes a plurality of stator magnetscircumferentially arranged along a surface of a stator sidewall facingthe second surface of the rotor sidewall, and a controller wirelesslycoupled to the plurality of stator magnets, the controller controllingthe plurality of stator magnets to selectively produce a respectivemagnetic field interacting with the rotor magnet of the rotor to rotatethe rotor and the rotor blade about the rotational axis to produce liftalong the rotational axis.

At least one aspect relates to a system. The system includes a rotor anda stator. The rotor includes a rotor sidewall defining a rotationalaxis, at least one rotor blade coupled with and transverse the sidewallalong a first surface of the side wall, and a rotor magnet coupled withthe sidewall along a second surface of the rotor sidewall opposite thefirst surface. The stator includes a plurality of stator magnetscircumferentially arranged along a surface of a stator sidewall facingthe second surface of the rotor sidewall, and a controller electricallycoupled to the plurality of stator magnets, the controller controllingthe plurality of stator magnets at a switching rate to selectivelyproduce a respective magnetic field, the magnetic fields interactingwith the rotor magnet of the rotor to rotate the rotor and rotor bladeat a rotational velocity corresponding to the switching rate to producelift at a lift velocity.

At least one aspect relates to a system. The system includes a rotorconfigured to rotate about a rotational axis and a stator. The rotorincludes a rotor sidewall, at least one rotor blade rotatably coupledwith the sidewall along a first surface of the side wall, the at leastone rotor blade rotating about a blade axis extending transverse theside wall, and a first rotor magnet and a second rotor magnet coupledwith the sidewall along a second surface of the rotor sidewall oppositethe first surface. The stator includes a plurality of first statormagnets circumferentially arranged along a stator sidewall facing therotor sidewall, at least one of the plurality of first stator magnetsproximate to the first rotor magnet, a plurality of second statormagnets spaced from respective first stator magnets andcircumferentially arranged along the stator sidewall, at least one ofthe plurality of second stator magnets proximate to the second rotormagnet, and a magnet controller electrically coupled to the plurality offirst stator magnets and the plurality of second stator magnets, themagnet controller controlling the plurality of first stator magnets at afirst switching rate and controlling the plurality of second statormagnets at a second switching rate to produce rotation of the rotorblade about the blade axis.

At least one aspect relates to a system. The system includes a statorand a rotor. The stator includes a plurality of stator magnetscircumferentially arranged along a surface of the stator. The rotor isconfigured to rotate about a rotational axis and has an annular rotorbase surrounding the stator. The rotor includes a plurality of rotorsegments. Each rotor segment includes a sidewall spaced from therotational axis having a first surface and a second surface opposite thefirst surface, at least one rotor magnet coupled to the side wall alongthe first surface, the rotor configured to be driven by the plurality ofstator magnets via respective magnetic fields of the plurality of statormagnets interacting with the at least one rotor magnet, and at least onerotor blade having a first blade end coupled with the second surface ofthe sidewall and a second blade end, the first end and second defining arotor blade length, the second end and rotational axis defining a radiusof rotation, a ratio of the rotor blade length to the radius of rotationof the tip being less than or equal to 0.75.

At least one aspect relates to a system. The system includes a rotorconfigured to rotate about a rotational axis and a stator. The rotorincludes a rotor sidewall, a first rotor blade rotatably coupled withthe sidewall along a first surface of the side wall, the first rotorblade rotating about a first blade axis extending transverse the sidewall, a second rotor blade rotatably coupled with the sidewall along thefirst surface of the sidewall, the second rotor blade rotating about asecond blade axis extending transverse the sidewall, a first set ofrotor magnets including a first rotor magnet and a second rotor magnetcoupled with the sidewall along a second surface of the rotor sidewallopposite the first surface proximate the first rotor blade, and a secondset of rotor magnets including a third rotor magnet and a fourth rotormagnet coupled with the sidewall along the second surface of the rotorsidewall proximate the second rotor blade. The stator includes aplurality of first stator magnets circumferentially arranged along astator sidewall facing the rotor sidewall, at least one of the pluralityof first stator magnets proximate to the first rotor magnet and at leastone of the plurality of first stator magnets proximate the third rotormagnet, a plurality of second stator magnets spaced from respectivefirst stator magnets and circumferentially arranged along the statorsidewall, at least one of the plurality of second stator magnetsproximate to the second rotor magnet and at least one of the pluralityof second stator magnets proximate to the fourth rotor magnet, and atleast one controller electrically coupled to the plurality of firststator magnets and the plurality of second stator magnets, the at leastone controller configured to receive a movement instruction, extract adesired movement from the movement instruction, generate a plurality ofcontrol signals based on the desired movement, and provide the pluralityof control signals to the plurality of first stator magnets and theplurality of second stator magnets to cause the plurality of firststator magnets and the plurality of second stator magnets to outputmagnetic fields corresponding to the plurality of control signals thatdrive the rotor magnets of the rotor to rotate the rotor about therotational axis, rotate the first rotor blade about the first bladeaxis, and rotate the second rotor blade about the second blade axis toproduce the desired movement.

At least one aspect relates to a rotor for operation with a stator. Therotor includes an annular rotor base defining a rotational axis andcomprising a plurality of first rotor segments arranged around thestator and configured to be driven in a first direction about therotational axis, and a plurality of second rotor segments arrangedaround the stator adjacent to the plurality of first rotor segments andconfigured to be driven in a second direction about the rotational axisopposite the first direction, each rotor segment including a sidewallspaced from the rotational axis, a first rotor wall extending from afirst end of the sidewall and towards the rotational axis, and a secondrotor wall extending from a second end of the sidewall and towards therotational axis, the second rotor wall spaced from the first rotor wall,the rotor defining a rotor axis through the first rotor wall and thesecond rotor wall and parallel to the rotational axis, at least onefirst rotor magnet coupled with the first rotor wall, the at least onefirst rotor magnet configured to maintain a first space between thefirst rotor wall and the first stator magnet along the rotor axis, atleast one second rotor magnet coupled with the second rotor wall, the atleast one second rotor magnet configured to maintain a second spacebetween the second rotor wall and the second rotor magnet along therotor axis, at least one third rotor magnet coupled with the sidewalland spaced from one or more propulsion magnets of the stator, the rotorconfigured to be driven by the propulsion magnets via a magnetic fieldof the one or more propulsion magnets interacting with the at least onethird rotor magnet. In some embodiments, the at least one rotor blade isa first rotor blade and the rotor magnet is a first rotor magnetcorresponding to the first rotor blade, the first rotor blade configuredto rotate about the rotational axis in a first direction, and the rotorincludes a second rotor blade spaced apart from the first rotor blade,the second rotor blade coupled with and transverse the sidewall along afirst surface of the sidewall, and a second rotor magnet correspondingto the second rotor blade, the second rotor magnet being driven to drivethe second rotor blade in a second direction about the rotational axisopposite the first direction.

Those skilled in the art will appreciate that the summary isillustrative only and is not intended to be in any way limiting. Otheraspects, inventive features, and advantages of the devices and/orprocesses described herein, as defined solely by the claims, will becomeapparent in the detailed description set forth herein and taken inconjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, aspects, features, and advantages ofthe disclosure will become more apparent and better understood byreferring to the following description taken in conjunction with theaccompanying drawings, in which:

FIG. 1 is a schematic diagram of an embodiment of a VTOL platform.

FIG. 2 is a schematic diagram of a portion of the VTOL platform of FIG.1.

FIG. 3 is a block diagram of various systems of the VTOL platform ofFIG. 1.

FIG. 4 is a partial perspective view of a motor region of the VTOLplatform of FIG. 1.

FIG. 5 is a section view of the motor region of the VTOL platform ofFIG. 1.

FIG. 6 is a schematic diagram of an embodiment of levitation andguidance systems.

FIG. 7 is a block diagram of an embodiment of a flight dynamics systemof a VTOL platform.

FIG.8 is a schematic diagram of collective pitch control executed by theflight dynamics system of FIG. 7.

FIG. 9 is a schematic diagram of cyclic pitch control executed by theflight dynamics system of FIG. 7.

FIG. 10 is a block diagram of an embodiment of a motor controller of aVTOL platform.

FIG. 11 is a block diagram of an embodiment of a stator of a VTOLplatform.

FIG. 12 is a block diagram of a rotor control system of a VTOL platform.

FIG. 13 is a flow diagram of an embodiment of a method of controlling aVTOL platform.

FIG. 14A is a schematic diagram of an embodiment of a rotor havingmotor-driven rotor blades.

FIG. 14B is a block diagram of an embodiment of a rotor control systemusing motor-driven rotor blades.

DETAILED DESCRIPTION

For purposes of reading the description of the various embodimentsbelow, the following enumeration of the sections of the specificationand their respective contents may be helpful:

-   -   Section A describes embodiments of systems and methods of a VTOL        platform that operates using magnetic levitation;    -   Section B describes embodiments of systems and methods of        levitation and guidance of a VTOL platform that operates using        magnetic levitation; and    -   Section C describes embodiments of systems and methods of        controlling a VTOL platform that operates using magnetic        levitation, including flight dynamics, motor control, and pitch        control.        A. Systems and Methods of VTOL Platforms Using Magnetic        Levitation

Referring generally to FIGS. 1-5, a VTOL platform in accordance with thepresent disclosure can use magnetic levitation and specific controlmechanisms to efficiently drive a rotor with a stator to enable verticaltakeoff and landing, as well as flight control operations such as lift,pitch, roll, and yaw control. The VTOL platform can have improved size,weight, power, and cost (SWAP-C) factors relative to existing systems,including increased power density relative to internal combustion-basedsystems. The VTOL platform can achieve high rotor rotation rates for anannular platform configuration.

The VTOL platform can have reduced noise relative to existing systemswith similar performance capability by reducing both mechanical andaerodynamic noise generation. Existing systems that rely on mechanicaloperation of gearboxes, swashplates, and generators may generatesignificant noise. In turbines mechanical noise may be transmitted alongthe structure of the turbine and radiated from its surfaces, andaerodynamic noise may be produced by the flow of air over the blades. Inhelicopters, noise may be generated by the main rotor and tail rotorinteractions with air. This can be verified by analyzing the frequencyspectrum of a helicopter during takeoff: there may be global and localmaximas at the respective blade passing frequencies of each rotor blade.There may also be a very large distribution of acoustic power thatsweeps over the higher frequencies, and this broadband noise may resultfrom a combination of multiple noise mechanisms, including operation ofthe turbine, gearbox, and transmission. The present solution can addressthese noise sources by using a direct electric powertrain that relies onfewer interactions between mechanical components, and also byconfiguring rotor blades in a manner that reduces noise generation. Assuch, the present solution can reduce energy inefficiencies associatedwith noise generation, as well as nuisances associated with noise thatmake existing systems less viable for urban environment and personal usemodes.

In some embodiments, the VTOL platform includes a rotor, a stator, aflight controller, and a motor controller. The rotor includes aplurality of rotor blades oriented about a rotor axis and radiallyspaced from the stator. Each rotor blade is coupled to a rotor arm suchthat rotation of the rotor arm causes the rotor blade to rotate about arotor pitch axis. The rotor arm is coupled to a first rotor magnetspaced from a second rotor magnet. The stator includes a plurality ofelectromagnets. The flight controller is configured to receive amovement instruction, extract a desired movement from the movementinstruction, and generate one or more flight commands configured tocause the rotor to generate at least one of thrust, moment of forceabout a yaw axis, moment of force about a platform pitch axis, or momentof force about a platform roll axis. The motor controller is configuredto receive the one or more flight control commands and drive electricalsignals through the electromagnets based on the one or more flightcontrol commands. The plurality of electromagnets are configured tooutput electromagnetic fields corresponding to the electrical signals todrive the rotor magnets of the rotor to rotate the rotor about the rotoraxis, rotate the rotor blade about the blade neutral pitch axis, andcause the rotor to generate the at least one of the thrust, the momentof force about the yaw axis, the moment of force about the platformpitch axis, or the moment of force about the platform roll axis.

Referring now to FIGS. 1-2, a VTOL platform 100 includes a stator 110that drives a rotor 120. The rotor 120 can extend from the stator 110 toa housing 130 (e.g., a nacelle). A support structure 140 can be mountedto the stator 110, such as to provide a seat 142 for an operator 144 ofthe VTOL platform 100. While FIGS. 1-2 illustrate the stator 110 inwardof the rotor 120, the stator 110 may be outward from the rotor 120. Therotor 120 can be supported by a levitation system (e.g., levitationsystem 360 described with reference to FIG. 3) coupled to the stator 110to rotate about the stator 110. The stator 110 and rotor 120 can includevarious magnets (e.g., permanent magnets; electromagnetic coils;electromagnetic coils through which current can be driven to cause theelectromagnetic coils to generate magnetic fields).

The stator 110 can use power from a power supply 112 to drive the rotor120 by outputting electromagnetic fields to drive magnets of the rotor120, including to rotate the rotor 120 about a rotational axis 122. Forexample, the stator 110 can drive the rotor 120 based on control signalsreceived from a controller, as discussed further herein. The powersupply 112 can include one or more batteries. The power supply 112 canbe highly distributed and integrated into the support structure 140,which can improve stiffness and reduce weight of the VTOL platform 100as compared to existing systems.

The stator 110 can have increased efficiency relative to existingmechanical systems. Using an electromagnetic coupling between the stator110 and rotor 120, rather than mechanical connections, can improveoperation relative to existing systems. In order to achieve a VTOLplatform having similar performance parameters as can be enabled by thepresent solution in existing systems would require the engine to drivesmall gears spinning much faster than a large radius rotor, which couldresult in significant mechanical friction losses, and would weighsignificantly more than a simple rotor mounted to a driven axle. In suchexisting systems, there could be large efficiency losses due to theextreme gear ratio, large inherent manufacturing difficulties from thelarge geared and/or toothed ring structures, loud mechanicalinteractions outweighing any aeroacoustic benefits of the annular rotorgeometry, and/or large, heavy structures used for power transfer thatcould increase total weight significantly. The present solution canaddress such phenomena by using the stator 110 to drive the rotor 120—insome embodiments, the present solution can produce a distributed torquethrough the use of a power dense, efficient and responsive electricsynchronous motor, rather a gearbox or axle for torque transfer as therotor-ring, and can simultaneously act as the electromechanical rotor,drive axle, and blade hub, thus lowering weight, efficiency losses, andmechanical complexity.

Further with respect to the stator 110 and rotor 120, it has been foundthat motor power density increases linearly with hub radius, anddecreases linearly with motor height. The present solution can implementsuch features to configure the stator 110 to have a relatively largeradius and relatively low thickness to increase efficiency and powerdensity, enabling the stator 110 to have less mass and/or greater poweroutput relative to existing internal combustion-based systems.

The rotor 120 is shown as an annular rotor that can orbit about thestator 110 and support structure 140. The rotor 120 includes a pluralityof first blades 124 (coupled to respective magnets as discussed furtherherein). The plurality of first blades 124 can extend between the stator110 and the housing 130. In some embodiments, the stator 110 controls apitch angle of each first blade 124. The first blades 124 can be coupledwith and transverse to (e.g., perpendicular to) sidewall 134. Asillustrated in FIGS. 1 and 4, each first blade 124 can extend from afirst blade end (e.g., blade root) 444 coupled with the sidewall 134(e.g., rotor segments 132 of sidewall 134) to a second blade end (e.g.,blade tip) 448, which can be coupled with the housing 130 or free fromthe housing 130. The first blade 124 can define a blade axis 440extending from the first blade end 444 to the second blade end, whichcan be perpendicular to the rotational axis 122.

In some embodiments, the rotor 120 includes a plurality of second blades126, which can be similar to the first blades 124 and may rotate aboutthe rotational axis 122 independently relatively to the plurality offirst blades 124. The second blades 126 can be spaced from the firstblades 124, such as being coupled with the sidewall 134 (e.g., rotorsegments 132 of sidewall 134) below the first blades 124, or coupledwith a second sidewall 134 below the first blades 124.

By rotating the first blades 124 and/or second blades 126, the VTOLplatform 100 can generate lift due to action of the first blades 124and/or second blades 126 on air passing through the VTOL platform 100.Similarly, the first blades 124 and/or second blades 126 can be drivenin a manner to cause rotation about yaw, roll, and/or pitch axes.

The rotor blades 124, 126 can be individually feathered (e.g., bladesurfaces aligned at a particular angle relative to direction of airflow)to maintain cyclic and collective pitch commands for guidance of theVTOL platform 100. As compared to existing systems, in which aswashplate may be used to control operation of rotor blades, the presentsolution can individually control pitch of each rotor blade 124, 126 ina frictionless manner.

Systems and Methods for Controlling Lift Using Contra-Rotating Rotors

In some embodiments, the plurality of first blades 124 rotate in a firstdirection about the rotational axis 122, while the plurality of secondblades 126 rotate in a second direction about the rotational axis 122opposite the first direction. As such, the plurality of first blades 124and plurality of second blades 126 can be contra-rotating. For example,each second blade 126 can be coupled with respective rotor magnets 380that are driven by the stator 110 in the second direction. As discussedfurther herein, the control circuit 310 can control operation of theplurality of first blades 124 by providing a first control signal tocause the plurality of first blades 124 to rotate about the rotationalaxis 122 in the first direction at a first angular rate, and controloperation of the plurality of second blades 126 by providing a secondcontrol signal to cause the plurality of second blades 126 to rotateabout the rotational axis 122 in the second direction at a secondangular rate. The control circuit 310 can generate the first controlsignal and second control signal to generate a desired motion of theVTOL platform 100. For example, to enable the VTOL platform 100 tooperate in a hover mode, the control circuit 310 can generate the firstcontrol signal and second control signal so that the first angular rateand second angular rate are configured so that a force balance on theVTOL platform 100 is zero in at least a vertical direction (e.g., upwardforce generated by the plurality of first blades 124 counteracts gravityand downward force generated by the plurality of second blades 126).

Systems and Methods for Reducing Noise Based on Effective Rotor AreaRelative to a Center of Rotation

In some embodiments, the rotor blades 124, 126 are configured to enablea relatively lower acoustic profile, such as to generated reduced noisewhile generating sufficient lift to support movement of the VTOLplatform 100. In the present solution, the number of rotor blades 124,126 can be selected to be relatively high, with the blades having phasemodulated spacing, to reduce noise while lift is maintained. Each blade124, 126 may have a relatively large tip diameter. The rotor blades 124,126 may be positioned and aligned relative to one another to operateincoherently. As such, noise resulting from interaction of the rotor 120and surrounding fluid can be reduced. In some embodiments, the rotorblades 124, 126 have a maximum tip Mach number of 0.5, and a hover tipMach number of 0.41. In some embodiments, the rotor blades 124, 126 areat least one of ducted or shrouded, which can increase lift generation,improve safety, and reduce noise radiated from the rotor blades 124,126. In some embodiments, the housing 130 is shaped to reflect noiseupwards, and may also attenuate noise travelling outward from the rotor120.

In some embodiments, the rotor blades 124, 126 have a relatively shortlength relative to a radius of rotation of the second blade end 448. Forexample, the rotor blades 124, 126 can define a rotor blade length fromthe first blade end 444 to the second blade end 448 along the blade axis440 (e.g., from the blade root to the blade tip). The second blade end448 can define a radius of rotation from the second blade end 448 to therotational axis 122. The rotor blades 124, 126 can define a ratio of therotor blade length to the radius of rotation. In some embodiments, theratio is less than or equal to 0.75. In some embodiments, the ratio isless than or equal to 0.6 and greater than or equal to 0.3. For example,as illustrated in FIG. 2, the rotor blades 124, 126 begin outward of therotational axis 122. In some embodiments, the efficiency of a rotorblade in generating lift as a function of distance from a center ofrotation (e.g., from rotational axis 122) is generally higher towardsthe blade tip than the blade root. As such, the present solution canreduce noise with relatively less performance loss by selecting bladesthat operate primarily in the high efficiency region.

In some embodiments, the rotor blades 124, 126 have a relatively highblade effective area or blade solidity. The second blade end 448 candefine a first perimeter (e.g., a perimeter swept by the second bladeend 448 as the second blade end 448 rotates about the rotational axis122). The sidewall 134 (or the first blade end 444) can define a secondperimeter, which is inward of the first perimeter. The rotor blades 124and/or 126 can also define a blade rotation area in a first planebetween the first perimeter and the second perimeter (e.g., a firstplane in which the first perimeter and second perimeter lie). The bladerotation area can represent the area swept by the first rotor blade 124in the first plane as the first rotor blade 124 rotates about therotational axis 122. The rotor blades 124 and/or the rotor blades 126can define a blade surface area in the first plane, which can representa surface area of the rotor blades 124 and/or the rotor blades 126 thatlies in the first plane (while the rotor blades 124 or the rotor blades126 are steady or not moving). The plurality of first rotor blades 124(or the plurality of second rotor blades 126) can define a bladeeffective area as a ratio of the blade surface area to the bladerotation area. In some embodiments, the blade effective area is greaterthan or equal to 0.4 (e.g., as compared to 0.2 in many existingsystems). In some embodiments, the blade effective area is greater thanor equal to 0.6. By having an increased blade effective area, the rotorblades 124, 126 can more efficiently generate lift at lower speeds andpitches; the VTOL platform 100 can achieve greater blade effective areasby using frictionless methods for driving rotation of the rotor 120,which would otherwise not be possible using mechanical couplings, suchas swashplates and gearboxes, to rotate the rotor 120 (or would resultin increased mechanical noise that would offset noise reductions fromincreased blade effective area).

The VTOL platform 100 can include a plurality of beams 150 extendingfrom the support structure 140 to the housing 130. The beams 150 can beunidirectional carbon fiber spokes. The beams 150 can be swept andleaned to increase a number of incident wakes from the rotor blades 124,126 acting on each beam 150, spreading the phase angle of the wakes toachieve incoherence. The beams 150 can provide radial, vertical, andtorsional stiffness to keep the housing 130 secure with respect to thesupport structure 140.

Referring now to FIGS. 3-5, a VTOL system 300 includes a control circuit310, the stator 110, and the rotor 120. The VTOL system 300 can beimplemented to control operation of the VTOL platform 100 described withreference to FIGS. 1-2. The control circuit 310 includes a processor 312and memory 314. The processor 312 may be implemented as a specificpurpose processor, an application specific integrated circuit (ASIC),one or more field programmable gate arrays (FPGAs), a group ofprocessing components, or other suitable electronic processingcomponents. The processor 312 may be a distributed computing system or amulti-core processor. The memory 314 is one or more devices (e.g., RAM,ROM, flash memory, hard disk storage) for storing data and computer codefor completing and facilitating the various user or client processes,layers, and modules described in the present disclosure. The memory 314may be or include volatile memory or non-volatile memory and may includedatabase components, object code components, script components, or anyother type of information structure for supporting the variousactivities and information structures of the inventive conceptsdisclosed herein. The memory 314 is communicably connected to theprocessor 312 and includes computer code or instruction modules forexecuting one or more processes described herein. The memory 314 caninclude various circuits, software engines, and/or modules that causethe processor to execute the systems and methods described herein. Thememory may be distributed across disparate devices.

The memory 314 includes a flight controller 316 and a motor controller318. The flight controller 316 can use flight dynamics models, rotorstate, and control laws to convert desired movement of the VTOL system300 into flight control signals 320, and transmit the flight controlsignals 320 to the motor controller 318. The motor controller 318 canreceive the flight control signals 320, and generate motor controlsignals 322 based on the flight control signals 320 to control operationof the stator 110, in order to cause the VTOL platform 100 to achievethe desired movement.

The VTOL system 300 can include a communications circuit 330. Thecommunications circuit 330 is configured to receive and transmit data.The communications circuit 330 can include receiver electronics andtransmitter electronics. The communications circuit 330 can include aradio configured for radio frequency communication. The communicationscircuit 330 can include a datalink radio. The communications circuit 330can receive and transmit navigation information from/to remoteplatforms.

The VTOL system 300 can include at least one sensor 334. The at leastone sensor 334 can provide sensor data to the control circuit 310. Theat least one sensor 334 can detect position, speed, acceleration,altitude, orientation, and other state parameters of VTOL system 300(e.g., of the VTOL platform 100 implementing the VTOL system 300). Theat least one sensor 334 can detect environmental parameters such astemperature, air pressure, and wind speed. The at least one sensor 334may include at least one of an inertial measurement unit (which mayinclude one or more gyroscopes and one or more accelerometers, such asthree gyroscopes and three accelerometers), an air data sensor (e.g.,sensor(s) configured to detect and output an indication of staticpressure), or a magnetic compass. The at least one sensor 334 caninclude a global navigation satellite system (GNSS) receiver and/or aglobal positioning system (GPS) receiver.

The VTOL system 300 can include a user interface 340 including a displaydevice 342 and a user input device 344. The display device 342 canreceive display data from control circuit 310 and present the receiveddisplay data. The display device 342 can include various displaycomponents, including but not limited to CRT, LCD, organic LED, dotmatrix display, and others. The display device 342 may includenavigation displays, primary flight displays, electronic flight bagdisplays, tablets such as iPad® computers manufactured by Apple, Inc. ortablet computers, synthetic vision system displays, HUDs with or withouta projector, head up guidance systems, wearable displays, watches,Google Glass® or other HWD systems. The display device 342 can presentdisplay data such as air traffic control data, weather data, navigationdata (e.g., flight plans), and terrain information.

The user input device 344 may include, for example, dials, switches,buttons, touch screens, keyboards, a mouse, joysticks, cursor controldevices (CCDs). The user input device 344 may include a touch interfaceprovided by one or more components of the display device 342. The userinput device 344 may include an audio input device configured to receiveaudio information (e.g., spoken information from an operator) that thecontrol circuit 310 can process. The user input device 344 may includean image capture device, such that the control circuit 310 can executeimage processing functions such as gesture control, head-tracking,and/or eye-tracking, and generate control instructions based on theimage processing.

The user interface 340 can receive a user input, and transmit anindication of the user input 346 to the flight controller 316. Theflight controller 316 can receive the indication of the user input 346,extract an input command from the indication of the user input 346, anddetermine a desired movement of the VTOL platform 100 based on the inputcommand in order to generate the flight control signals 320.

Improved Stator Assembly for Use with a Rotor

The stator 110 includes a stator housing 350 (e.g., an annular statorbase) supporting a plurality of stator magnets 352 (e.g., propulsionmagnets). The stator housing 350 can include a plurality of statorsegments 351, which can be contiguous, such as being integral ormonolithic, or can be at least partially disconnected, such as by beingseparate members or being connected by extensions that are narrower thanthe adjacent stator segments 351. The plurality of stator magnets 352can each be driven by the motor control signals 322. The plurality ofstator magnets 352 can be electromagnets. For example, the plurality ofstator magnets 352 can include electromagnetic coils that outputelectromagnetic fields based on electrical signals driven through theelectromagnetic coils. The electromagnet coils may be made from variousconductive materials, including aluminum or copper. In some embodiments,aluminum can be used based on being light weight, having high thermalconductivity, and having an electrical conductivity more than twice thatof copper as a function of mass (e.g., aluminum can be selected that has61 percent of the conductivity of copper but 30 percent of the mass ofcopper for a given volume, enabling mass savings offsetting the volumeincrease to achieve a same amp rating). The stator 110 can include alaminated iron core 504 adjacent to the stator magnets 352, which canincrease a magnitude of the magnetic field outputted by the statormagnets 352.

In response to receiving a particular motor control signal 322, eachstator magnet 352 can output a corresponding electromagnetic field 354.Each stator magnet 352 can vary a magnitude of the outputtedelectromagnetic field 354 as a function of time depending on thereceived motor control signal 322. For example, if the motor controlsignal 322 has varying values of parameters such as amplitude andfrequency, amplitude and frequency of the electromagnetic field 354 cansimilarly vary.

As described further herein, the stator 110 can include magnets 362 a,362 b, 364 a, and 364 b of LGS 360 that can interact with rotor magnets372, 374 to maintain respective spaces between the stator 110 and therotor 120 and in turn receive lift from the rotor 120 to lift the stator110. For example, as the stator magnets 352 output electromagneticfields 354, lift generated by rotation of the rotor 120 can cause therotor 120 to move upwards (e.g., closer to magnet 372 and further frommagnet 374); as a result, the rotor 120 applies force via the magnets372, 374 on the stator 110, lifting the stator 110 as operation of themagnets 362 a, 362 b, 364 a, and 364 b adjust to the forces applied bythe rotor 120 and transfer the forces to the stator housing 350.

Improved Rotor Assembly for Use with a Stator

The rotor 120 includes a rotor base 128. The rotor base 128 can beannular, extending around the rotational axis 122 and defining a spacebetween the rotor base 128 and the stator housing 350. The rotor base128 can include a plurality of rotor segments 132. Each rotor segment132 can include a sidewall 134 spaced from the rotational axis 122. Therotor segments 132 can be contiguous, such as by each rotor segment 132being connected with adjacent rotor segments 132 or being integral ormonolithic. The rotor segments 132 can be at least partiallydisconnected, such as by being separate members or being connected byextensions that are narrower than the adjacent rotor segments 132 in adirection perpendicular to the rotational axis 122.

The rotor 120 includes a plurality of rotor magnets 380 arranged aroundthe rotor 120. One or more rotor magnets 380 can be coupled withcorresponding sidewalls 134. Each rotor magnet 380 can be driven bycorresponding electromagnetic fields outputted by the plurality ofstator magnets 352. The plurality of rotor magnets 380 can be permanentmagnets, which may have a higher flux density than superconductingmagnets for the form factors of the present solution. In someembodiments, the plurality of rotor magnets 380 (and, in someembodiments, the magnets 372 of the LGS 360 described below) includeneodymium permanent magnets, which may have magnetic field strengths ofup to 1 Tesla, and can be geometrically configured into Halbach arraysto increase the magnetic field strength up to 1.4 T. The time-varyingnature of the electromagnetic fields 354 generated by the plurality ofstator magnets 352, along with the positioning of the stator magnets352, can drive the plurality of rotor magnets 380 to rotate about arotor axis (e.g., rotational axis 122 shown in FIG. 2).

Each rotor blade 124, 126 can be mechanically coupled to at least onerotor magnet 380. In some embodiments, as the rotor magnets 380 rotate,the rotor magnets 380 can be differentially driven about the rotationalaxis 122 by propulsion 416 caused by the stator 110, the rotor blades124, 126 will rotate about a pitch axis. As shown in FIG. 4, as therotor blades 124, 126 rotate, lift 402 can be generated. A castor wheel508 (e.g., rubber, nylon castor wheel) can be positioned between thestator 110 and rotor 120 to enable the rotor 120 to be supported andcontinue to rotate relative to the stator 110 when the rotor 120 is atrotating below a speed threshold at which the rotor 120 generatessufficient lift that, when combined with levitation from the levitationsystem 360, overcomes gravity to levitate the rotor 120. The castorwheel 508 can extend between the stator 110 and the rotor 120 toseparate the stator 110 and the rotor 120.

The rotor blades 124, 126 can be made of a composite construction. Thecomposite fiber skin of the blades 124, 126 can transfer the centrifugaland bending loads of the blades 124, 126 to an axle 418 (e.g., afeathering grip axle). In some embodiments, the axle 418 is resistedagainst the centrifugal and aerodynamic loads by a pair of thrustbearings 420, which can include brass bushings to compensate for theprimary bending and shear moments of the rotor blades 124, 126. Therotor 120 can include a support ring 422, which can be a modularassembly of a box hoop mounting the blade assemblies (e.g., each blade124, 126 and corresponding axle 418 and bearings 420) and drivingmagnets 380. The support ring 422 can include hollow disks end plates424 to hold magnets 372, 374.

B. Systems and Methods of Levitation and Guidance of a VTOL Platform

Referring further to FIGS. 3-5 and now to FIG. 6, the VTOL system 300includes a levitation and guidance system (LGS) 360, which maintains aposition (and orientation) of the rotor 120 relative to the stator 110,including to enable the stator 110 to receive lift from the rotor 120across an air gap between the rotor 120 and stator 110 in order to movethe VTOL platform 100.

Systems and Methods for Maintaining Levitation of a Rotor Relative to aStator

The present solution can maintain levitation of a rotor (e.g., rotor120) relative to a stator (e.g., stator 110). In implementations inwhich the stator drives a rotor, the rotor may be needed to be spacedapart from the stator (e.g., to limit friction, for instance). Theimplementations and embodiments described herein space apart the rotorfrom the stator even where the stator and rotor are levitating off theground.

In some embodiments, a system includes a rotor and a stator. The rotorincludes a sidewall and two rotor walls extending from the two ends ofthe sidewall such the two rotor walls are spaced apart from each other.The rotor includes a first and second rotor magnet coupled with therespective rotor walls. The stator includes a support structureextending between the rotor walls. The stator includes a stator magnet(e.g., a first stator magnet) coupled to a first surface of the supportstructure adjacent to one of the rotor magnets (e.g., the first rotormagnet). The first rotor magnet induces a current in the first statormagnet corresponding to a distance between the first stator magnet andthe first rotor magnet. The stator includes another stator magnet (e.g.,a second stator magnet) coupled to a second surface of the supportstructure adjacent to the second rotor magnet. The stator magnets areelectrically coupled to one another such that the second stator magnetreceives current from the first stator magnet. The second stator magnetoutputs a magnetic field having a magnetic field strength based on thecurrent from the first stator magnet. The magnetic field from the secondstator magnet interacts with the second rotor magnet to control adistance between the at least one second stator magnet and the at leastone second rotor magnet.

For example, referring still to FIGS. 3-5 and 6, the LGS 360 canmaintain a position of the rotor 120 along the rotational axis 122(e.g., vertically) relative to the stator 110. For example, the LGS 360can include a plurality of first magnets 362 and a plurality of secondmagnets 364 (also referred to herein as stator magnets) that are passiveelectromagnetic coils and electrically coupled, such that a totalmagnetic flux through the first magnets 362 and corresponding secondmagnets 364 is zero (e.g., the LGS 360 establishes a null fluxcondition). The magnets 362, 364 may be coupled with respective surfacesof a support structure 510 of the stator 110 which extends between rotorwalls 512, 514 and adjacent a sidewall 516 of the rotor 120. The magnets362, 364 may be arranged along a stator axis.

As the rotor 120 rotates (e.g., due to the magnet 352 coupled to thesupport structure of the stator 110 driving the magnet 380 coupled tothe sidewall 516 of the rotor 120), the blades 124, 126 generate lift402. The LGS 360 receives the lift via the first magnets 362 as therotor 120 moves vertically along the rotor axis 122, and transfers thelift to the stator housing 350, causing the VTOL platform 100 to belifted. The LGS 360 stabilizes the position of the rotor 120 in adirection perpendicular to the rotor axis 122. For example, as a portionof the rotor 120 moves closer to or further from the stator 110, the LGS360 will pull or push the rotor 120 back to an equilibrium position.

As the rotor 120 rotates and is lifted due to lift 402 generated byrotor blades 124, 126, magnets 372, 374 (also referred to herein asrotor magnets) which are coupled with respective rotor walls 512, 514 ofthe rotor 120 will output magnetic fields 410, 412 that apply respectiveforces on the magnets 362, 364. The magnets 372, 374 may be permanentmagnets. The magnets 372, 374 may be arranged along a rotor axisextending parallel to the rotational axis of the rotor 120. In someembodiments, magnet(s) 372 and magnet(s) 362 may be aligned, andmagnet(s) 374 and magnet(s) 364 may be aligned. In some implementations,the rotor axis may be aligned with the stator axis such that each ofmagnets 362, 364, 372, 374 are aligned.

The magnitude of the force associated with magnetic field 410 willincrease as third magnets 372 move closer to the plurality of firstmagnets 362, while the magnitude of the magnetic field 412 will decreaseas fourth magnets 374 move further from the second magnets 364 (or viceversa). The movement of the rotor 120 along the rotor axis 122 may occurdue to various phenomena during operation of the VTOL system 300,including but not limited to when rotation of the rotor 120 results inlift 402. In particular, as rotation of the rotor 120 results in lift402, the rotor 120 will be driven vertically, applying a net verticalforce on the stator 110. In some embodiments, because the first magnets362 are electrically coupled to the second magnets 364, current inducedin the first magnets 362 due to the magnetic field 410 increasing inmagnitude will be driven to the second magnets 364 (e.g., due to thenull flux condition), causing the magnitude of the magnetic field 412 toincrease, in turn pulling the fourth magnets 374 closer to the secondmagnets 364 and thus maintaining a position of the rotor 120 relative tothe stator 110 along the rotor axis 122. The repulsive force associatedwith the stabilization implemented by the LGS 360 can be linear, whichcan facilitate the stabilization effect.

Systems and Methods for Improved Guidance of a Rotor Relative to aStator

The present solution can enable improved guidance of a rotor relative toa stator (e.g., rotor 120, stator 110), such as to maintain the rotor inan appropriate position along an axis perpendicular to the rotationalaxis 122 responsive to the rotor moving closer to or further from thestator. In implementations in which the stator drives a rotor, the rotormay have a tendency to laterally shift during rotation (e.g., due tocentrifugal and centripetal forces). As a result of such lateral shifts,the rotor and stator may become misaligned, which may cause the systemto malfunction or even become inoperable. The implementations andembodiments described herein maintain the position of the rotor withrespect to the stator to prevent misalignment.

In some embodiments, a system includes a rotor and a stator. The rotorincludes a sidewall and a rotor wall extending from an end of thesidewall. The rotor includes a rotor magnet coupled with the rotor wall.The stator includes a support structure adjacent the rotor wall. Thestator includes a first stator magnet and a second stator magnet. Thestator magnets are coupled with a surface of the support structureproximate to the rotor magnet. The stator magnets may be electricallycoupled to one another. The rotor magnet may induce a current in thefirst stator magnet corresponding to a magnetic force between the firststator magnet and the rotor magnet. The second stator magnet may receivethe current from the first stator magnet to control a magnetic forcebetween the second stator magnet and the rotor magnet.

As shown in FIGS. 4 and 6, the first magnets 362 (e.g., stator magnets)include pairs of first magnets 362, one first magnet 362 a radiallyinward and one first magnet 362 b radially outward. The second magnets364 (e.g., stator magnets) similarly include an inward second magnet 364a and an outward second magnet 364 b. In some embodiments, the firstmagnet 362 a is electrically coupled to the first magnet 362 b, and thesecond magnet 364 a is electrically coupled to the second magnet 364 b,enabling a similar null flux condition as between corresponding magnets362, 364. At an equilibrium position, the magnets 362 a, 364 a areinward of the corresponding magnets 372, 374 (e.g., rotor magnets), andthe magnets 362 b, 364 b are outward of the corresponding magnets 372,374. If the rotor 120 shifts towards the stator 110, the magnitude ofmagnetic fields 376 will change to counteract the shift. For example, asthe rotor 120, and thus magnets 372, 374 shift closer towards the rotoraxis 122, the magnets 372, 374 will shift towards the magnets 362 a, 364a, and further from the magnets 362 b, 364 b. As such, a distancebetween the magnets 372, 374 and magnets 362 a, 364 a increases. Inturn, a magnitude of a first field 604 a (e.g., a magnetic force of thefirst magnetic field 604 a) between the magnet 372 and the magnet 362 awill increase, while a magnitude of a second field 604 b (e.g., amagnetic force of the second magnetic field 604 b) between the magnet372 and the magnet 362 b will decrease (similarly for the magnet 374 andmagnets 364 a, 364 b). As the magnitude of the field 604 a increases,current is induced in the magnet 362 a. Because the magnets 362 a, 362 bare electrically coupled, changes in induced currents between themagnets 362 a, 362 b will counteract the movement of the magnet 372, andthus move the rotor 120 back towards the equilibrium position. Theinduced current between the magnets 362 a, 362 b, 364 a, 364 b maycontrol the magnetic force between the magnets 372, 374 and magnets 362a, 362 b, 364 a, 364 b to move the rotor 120 back towards theequilibrium position.

C. Systems and Methods of Controlling a VTOL Platform

Referring now to FIGS. 7-9, a flight controller 700 is shown accordingto an embodiment of the present disclosure. The flight controller 700can incorporate features of the flight controller 316 described withreference to FIG. 3, including to generate instructions for controllingmotion of a VTOL platform (e.g., VTOL platform 100 described withreference to FIGS. 1-3). For example, the flight controller 700 cangenerate commands to cause thrust, yaw, pitch, and roll movement of theVTOL platform (e.g., thrust, moment of force about yaw axis, moment offorce about platform pitch axis, moment of force about platform rollaxis).

Systems and Methods for Drive Control of a Magnetically Levitated Rotor

The present solution can be used to control operation of the rotor 120to control movement of the VTOL platform 100, such as to cause the rotor120 to generate lift. In some embodiments, the flight controller 700includes a flight dynamics model 702. The flight dynamics model 702 cancalculate variables associated with motion of the VTOL platform 100. Forexample, the flight dynamics model 702 can model relationships betweenthrust, drag, and gravity acting on the VTOL platform 100. The flightdynamics model 702 can calculate lift corresponding to forces acting onthe VTOL platform 100. The flight dynamics model 702 can include afunction that computes a thrust generated by each rotor blade (e.g.,rotor blades 124, 126) based on a pitch angle of each rotor blade;similarly, the flight dynamics model 702 can compute a total thrustgenerated by all of the rotor blades (e.g., a magnitude and direction ofthe total thrust) based on the pitch angle of all of the rotor blades.

The flight controller 700 includes a flight dynamics controller 704. Theflight dynamics controller 704 can include flight dynamics control lawsused to generate control commands 708 to cause the VTOL platform 100 toperform desired movement, such as to selectively control (e.g., viamotor controller 1000 and stator system 1100 as described below) thestator magnets 352 to produce respective magnetic fields that interactwith rotor magnets 380 to rotate the rotor 120 about the rotational axis122 to generate lift, and to control operation of the rotor blades 124,126 to control an angle of the rotor blades 124, 126 about respectiveblade axes 440. In particular, the flight dynamics controller 704 cangenerate a vertical command 708 a, a pitch command 708 b, a yaw command708 c, and a roll command 708 d. The flight dynamics controller 704 cangenerate the commands 708 a, 708 b, 708 c, 708 d by mapping pitch anglesof each rotor blade to corresponding thrust generated by each rotorblade, and mapping the thrust of each rotor blade to resulting thrust(e.g. total thrust), yaw, pitch, and roll. The flight dynamicscontroller 704 can generate the command 708 b to a moment of force aboutthe yaw axis, the command 708 c to a moment of force about the pitchaxis, and the command 708 d to a moment of force about the roll axis.

The flight dynamics controller 704 can generate the vertical command 708a to indicate a desired vertical motion of the VTOL platform 100. Forexample, the flight dynamics controller 704 can generate the verticalcommand 708 a to indicate a desired lift to be achieved by the VTOLplatform 100.

The flight dynamics controller 704 can generate the vertical command 708a to execute collective rotor pitch control to generate verticalacceleration, such that the upper and lower rotor disks (e.g., upperdisk corresponding to rotor blades 124, lower disk corresponding torotor blades 126, as shown in FIGS. 1-5) can increase or decrease thrustequally to negate yaw torque on a center of the VTOL platform 100. Theflight dynamics controller 704 can generate the vertical command 708 ato control thrust by collectively changing a pitch angle of each of therotor blades 124, 126, independent of an angular position of each rotorblade 124, 126 relative to the rotational axis 122.

For example, as shown in FIG. 8, the flight dynamics controller 704 cancause rotor blades 800 (e.g., illustrating an implementation of rotorblades 124 or rotor blades 126) to have a pitch angle resulting inindividual thrusts 802 parallel to a rotor axis 806, resulting in totalthrust 804 parallel to rotor axis 806. FIG. 8 illustrates each rotorblade 800 having a same pitch angle about respective pitch axes, such aspitch axis 808 illustrated for one of the rotor blades 800.

Systems And Methods for Independent Pitch Control of Rotor Blades ofRotor Assembly to Achieve Directional Control

The present solution can be used to independently control the pitch ofeach rotor blade 800, enabling directional control of the VTOL platform(e.g., control thrust, pitch, yaw, roll). For example, the flightdynamics controller 704 can execute cyclic rotor pitch control tocontrol pitch and roll of the VTOL platform 100. For example, as shownin FIG. 9, the flight dynamics controller 704 can cause a first rotorblade 900 to have a pitch corresponding to a greater thrust 902 a thanthe remaining rotor blades 900, particularly than a lesser thrust 902 bof the rotor blade 900 opposite the first rotor blade 900, resulting ina total thrust 904 having a horizontal component relative to rotor axis906, the horizontal component corresponding to a greater amount ofthrust being generated on a first side of the rotor axis 906 where thefirst rotor blade 900 is located. As will be described with reference toFIGS. 11-12, as the rotor blades 900 rotate about the rotor axis 906,the flight dynamics controller 704 can selectively cause each rotorblade 900 to achieve a desired pitch angle as a function of the positionof the rotor blade 900. For example, to achieve the total thrust 904illustrated in FIG. 9 for a desired duration of time, the flightdynamics controller 704 can generate commands to cause each rotor blade900 to change its pitch angle through the various pitch angles shown inFIG. 9 as the rotor blades 900 rotate about the rotor axis 906. Asdiscussed further herein, the pitch angle of each rotor blade 900 can becontrolled through various mechanisms, such as a motor coupled with therotor blade 900 to rotate the rotor blade 900 or rotor magnets coupledwith the rotor blade 900 that can be driven by stator magnets to rotatethe rotor blade 900.

In some embodiments, the flight dynamics controller 704 uses an operatorinput 706 (which may be received from user interface 340 described withreference to FIG. 3) to generate the control commands 708. For example,the flight dynamics controller 704 can extract movement instructionsindicated by the operator input to generate the control commands 708. Insome embodiments, the flight dynamics controller 704 uses an autopilotto generate the control commands 708. For example, the autopilot mayprovide a target destination to the flight dynamics controller 704, suchas a waypoint on a flight plan. The autopilot may provide a plurality oftarget destinations over time to defining a path for the VTOL platform100 to follow (e.g., a path through a plurality of waypoints).

The flight dynamics controller 704 can use the flight dynamics model 702to generate the control commands 708. For example, the flight dynamicscontroller 704 can use the flight dynamics model 702 to calculate a liftexpected to be generated by the rotor 120 given pitch angles of therotor blades. The flight dynamics controller 704 can execute the flightdynamics control laws to convert instructions indicative of desiredmovement (e.g., instructions extracted via operator input indicatingdesired movement to a higher altitude at a particular vertical speed andairspeed), and use the flight dynamics model 702 to determine how tocontrol operation of the rotor blades 900 to generate the lift, yaw,pitch, and/or roll expected to achieve the desired movement.

The flight dynamics controller 704 outputs the control commands 708 to afirst network 710. The first network 710 can be a communication bus,such as a controller area network (CAN) bus, a local interconnectnetwork (LIN) bus, or a padded jittering operative network (PJON)network. The first network 710 can operate using a micro control stacknetwork stack protocol.

Referring now to FIG. 10, a motor controller 1000 is shown according toan embodiment of the present disclosure. The motor controller 1000 canincorporate features of the motor controller 318 described withreference to FIG. 3, including to generate electronic instructions forcontrolling operation of a stator of a VTOL platform (e.g., stator 110and VTOL platform 100 described with reference to FIGS. 1-3).

The motor controller 1000 includes at least one motor control circuit1002. For example, as shown in FIG. 10, the motor controller 1000includes a first motor control circuit 1002 a, a second motor controlcircuit 1002 b, and a third motor control circuit 1002 c. The at leastone motor control circuit 1002 can receive control commands from thefirst network 710 (e.g., control commands 708 as described withreference to FIG. 7), and generate motor control signals 1004 to beoutputted to the stator 110 via second network 1006. The second network1006 can be similar to the first network 710.

For example, as shown in FIG. 10, the first motor control circuit 1002 acan output first motor control signal 1004 a, the second motor controlcircuit 1002 b can output second motor control signal 1004 b, and thethird motor control circuit 1002 c can output third motor control signal1004 c. In some embodiments, the number of motor control circuits 1002corresponds to the number of phases of operation of magnets of thestator 110; for example, the motor controller 1000 shown in FIG. 10 canbe configured for three-phase operation. The motor controller 1000 canexecute synchronous control of the stator 110, and can maintain aconstant speed of rotation of the rotor 120 by maintaining a sourcefrequency of the motor control signals 1004, including for any loadcondition that is less than a rated maximum load.

As will be described with further reference to FIG. 11, the at least onemotor control circuit 1002 can generate the motor control signals 1004to cause specific waveforms to be applied to electromagnets of thestator 110 in order to cause resulting motion of magnets of the rotor120. The motor controller 1000 includes a position encoder 1004 thatreceives a position signal 1010 from a third network 1008. The thirdnetwork 1008 can be similar to the first network 710 and second network1006.

The position signal 1010 indicates positions of magnets of the rotor120, which the position encoder 1004 can convert into position data thatthe at least one motor control circuit 1002 can use to determine whichelectromagnets of the stator 110 to control (and thus how to generatethe waveforms to be applied to the electromagnets of the stator 110).

Systems and Methods for Dynamically Triggering Independent Stator Coilsto Control Rotational Velocity of Rotor

Referring now to FIG. 11, a stator system 1100 is shown according to anembodiment of the present disclosure. The stator system 1100 canincorporate features of the stator 110 described with reference to FIGS.1-5. The stator system 1100 includes at least one magnet controller1102, such as magnet controllers 1102 a, 1102 b, and 1102 c, which caneach execute one phase of a three-phase control scheme. The at least onemagnet controller 1102 receives motor control signals 1004 from thesecond network 1006. For example, as depicted in FIG. 11, the firstmagnet controller 1102 a receives the first motor control signal 1004 a,the second magnet controller 1102 b receives the second motor controlsignal 1004 b, and the third magnet controller receives the third motorcontrol signal 1004 c. The stator system 1100 can be used toindependently trigger electromagnets of the stator 110 (e.g., statorcoils) or groups of electromagnets to output magnetic fields that can beused to rotate the rotor 110 at desired rotation rates about therotational axis 122.

The stator system 1100 includes a plurality of electromagnets (e.g.,electromagnetic coils). FIG. 11 illustrates nine pairs of electromagnets1110, 1112; 1114, 1116; 1118, 1120; 1122, 1124; 1126, 1128; 1130, 1132;1134, 1136; 1138, 1140. An electromagnet of each pair can be provided ina corresponding stator rail 404 or 408 as shown in FIG. 4. For example,electromagnets 1110, 1114, 1118, 1122, 1126, 1130, 1134, 1138, and 1142can be provided in the stator rail 404, and electromagnets 1112, 1116,1120, 1124, 1128, 1132, 1136, 1140, and 1144 can be provided in thestator rail 408. While FIG. 11 illustrates the stator system 1100including nine pairs of electromagnets controlled by the three magnetcontrollers 1102 a, 1102 b, and 1102 c, it will be understood that thestator system 1100 can include additional such modules of magnetcontrollers and electromagnets—for example, the stator system 1100 caninclude a circumferential ring of magnet controllers and electromagnetsto enable the stator system 1100 to drive the rotor 120 from all aroundthe rotational axis 122.

The first magnet controller 1102 a can control operation ofelectromagnets 1110, 1112; 1122, 1124; and 1134, 1136. For example, thefirst magnet controller 1102 a can transmit individual magnet controlsignals to each of the electromagnets 1110, 1112; 1122, 1124; and 1134,1136. In some embodiments, the stator system 1100 includes a firstactuator 1142 coupled to the electromagnet 1110 and a second actuator1144 coupled to the electromagnet 1112. The first actuator 1142 andsecond actuator 1144 can be implement using a switch circuit, such as ametal oxide semiconductor field effect transistor (MOSFET). The statorsystem 1100 can include an actuator coupled to each electromagnet (asdepicted in FIG. 11).

The at least one magnet controller 1102 can transmit magnet controlsignals to control operation of the electromagnets, such as by executingpulse-width modulation (PWM) based on the received motor control signals1004 to control at least one of a current or a voltage of the outputtedmagnet control signal based on the received motor control signals 1004.For example, by increasing a duty cycle of the control signals usingPWM, the at least one magnet controller 1102 can cause theelectromagnets to output magnetic fields having relatively greater fieldstrengths. The first magnet controller 1102 a can transmit a firstmagnet control signal to cause the first actuator 1142 to drive a firstelectrical signal through the electromagnet 1110, causing theelectromagnet 1110 to output a corresponding first magnetic field, andcan transmit a second magnet control signal to cause the second actuator1142 to drive a second electrical signal through the electromagnet 1112to output a corresponding second magnetic field. As the magnetcontrollers 1102 control the electromagnets (e.g., based on the magneticforce output from the electromagnets, based on a switching rate betweenthe electromagnets outputting magnetic fields, and so forth), the magnetcontroller 1102 can control the rotational velocity of the rotor 120relative to the stator 110. The switching rate can correspond to a rateof current being driven through respective electromagnets, or a rate ofpulse output by the at least one magnet controller 1102. The magnetcontrollers 1102 may modify the switching rate by changing a rate bywhich the electromagnets are sequentially excited to produce arespective magnetic field. The magnet controllers 1102 may modify themagnetic force (e.g., based on magnitude of magnetic field strength ofthe respective magnetic field) by increasing the current, increasing theduty cycle, and so forth. For instance, the magnetic controller 1102 canincrease the magnetic force to increase the rotational velocity,increase the switching rate to increase the rotational velocity, and soforth. By increasing the rotational velocity, the rotor blades 124, 126can produce more lift. In some embodiments, the magnet controller 1102 acan control the electromagnets 1110, 1112; 1122, 1124; and 1134, 1136 ata first switching rate, and the second magnet controller 1102 b cancontrol the electromagnets 1114, 1116; 1126, 1128; and 1138, 1140 at asecond switch rate different than the first switching rate.

The second magnet controller 1102 b can control operation ofelectromagnets 1114, 1116; 1126, 1128; and 1138, 1140. For example, thesecond magnet controller 1102 b can transmit individual magnet controlsignals to each of the electromagnets 1114, 1116; 1126, 1128; and 1138,1140. The third magnet controller 1102 c can control operation ofelectromagnets 1118, 1120; 1130, 1132; and 1142, 1144. For example, thethird magnet controller 1102 c can transmit individual magnet controlsignals to each of the electromagnets 1118, 1120; 1130, 1132; and 1142,1144. As the magnet controllers 1102 control the electromagnets (e.g.,based on the magnetic force output from the electromagnets, based on theswitching rate between the electromagnets outputting magnetic fields,and so forth), the magnet controller 1102 can control the rotationalvelocity of the rotor 120 relative to the stator 110. The magnetcontrollers 1102 may modify the switching rate by changing a rate bywhich the electromagnets are sequentially excited to produce arespective magnetic field. For instance, the magnetic controller 1102can increase the magnetic force to increase the rotational velocity,increase the switching rate to increase the velocity, and so forth. Byincreasing the velocity, the rotor blades 124, 126 can produce morelift.

Systems and Methods for Dynamically Triggering Independent Stator Coilsto Control Pitch of Rotor Blade

The present solution can be used to control pitch angles of rotor blades1164 by independently triggering and controlling operation ofelectromagnets or groups of electromagnets of the stator system 1100, inturn controlling the respective magnetic fields outputted by theelectromagnets that interact with the rotor 120 and magnets thereof. Forexample, the magnet controllers 1102 can output control signals havingduty cycles, magnitudes, switching rates, or other parameters thatselectively control the electromagnets of the stator system 1100 tooutput desired magnetic fields. In the configuration depicted in FIG.11, the third magnet controller 1102 c has outputted a magnet controlsignal to cause electromagnet 1120 to output an electromagnetic field1152. The third magnet controller 1102 c configures the electromagneticfield 1152 to repulse a first rotor magnet 1160 (e.g., a lower rotormagnet of the two rotor magnets 380 interacting with rotor blade 124 asshown in FIGS. 4-5), such as by timing a magnitude and polarity of theelectromagnetic field 1152 to repulse a corresponding lagging-side poleof the first rotor magnet 1160. The second magnet controller 1102 b hasoutputted a magnet control signal to cause electromagnet 1128 to outputan electromagnetic field 1154, which is configured to attract the firstrotor magnet 1160, such as by timing a magnitude and polarity of theelectromagnetic field 1154 to attract a corresponding leading-side poleof the first rotor magnet 1160. As such, the stator system 1100 candrive the first rotor magnet 1160 at a desired speed along the direction1170 by controlling the timing, magnitude, and/or polarity of theoutputted magnetic fields. Similarly, in the configuration depicted inFIG. 11, the first magnet controller 1102 a has outputted a magnetcontrol signal to cause electromagnet 1122 to output an electromagneticfield 1156 to repulse a lagging-side pole of a second rotor magnet 1162,and the third magnet controller 1102 c has outputted a magnet controlsignal to cause electromagnet 1130 to output an electromagnetic field1158 to attract a leading-side pole of the second rotor magnet 1162,thus driving the second rotor magnet 1162 at a desired speed (which canbe different than the speed at which the first rotor magnet 1160 isdriven) along the direction 1170.

The rotor blade 1164 is coupled to the first and second rotor magnets1160, 1162, and thus can be driven along the direction 1170 by movementof the first and second rotor magnets 1160, 1162. As such, the statorsystem 1100 can generate desired lift based on the speed at which therotor blade 1164 is driven, as well as the pitch angle at which therotor blade 1164 is oriented. As will be described with furtherreference to FIG. 12, the stator system 1100 can selectively lag andlead the first and second rotor magnets 1162, 1164 relative to oneanother (based on the motor control signals 1004 received from the motorcontroller 1000) to adjust the pitch angle of the rotor blade 1164,enabling lift, yaw, pitch, and roll control. In addition, the statorsystem 1100 can maintain synchronicity with the rotor magnets 1160, 1162due to the combined attraction and repulsion applied to each pair ofrotor magnets 1160, 1162.

As the rotor magnets 1160, 1162 are driven along the direction 1170, theat least one magnet controller 1102 can continue to use received motorcontrol signals 1004 to selectively activate electromagnets (includingthe depicted electromagnets 1110, 1112; 1114, 1116; 1118, 1120; 1122,1124; 1126, 1128; 1130, 1132; 1134, 1136; 1138, 1140), and thus drivethe rotor magnets 1160, 1162 throughout a full rotation about the statorsystem 1100.

The stator system 1100 includes a position encoder 1104. The positionencoder 1104 can transmit a position signal indicating a position ofeach rotor blade (e.g., rotor blade 1164) via the third network 1008 tothe position encoder 1004 of the motor controller 1000, so that themotor controller 1000 can use the position of each rotor blade togenerate appropriate motor control signals 1004 to transmit to thestator system 1100. The position encoder 1004 can be distributedthroughout the stator 110 in a similar manner as the configuration ofthe stator system 1100 shown in FIG. 11 can be distributed throughoutthe stator 110 to enable full circumferential operation.

The position encoder 1104 can include a back electromotive force (EMF)encoder that measures a back EMF of each electromagnet of the statorsystem 1100, and determines the positions of rotor magnets 1160, 1162,and thus rotor blades 1164, based on the measured back EMF. For example,at each motor control state, the position encoder 1104 can detect a backEMF of a distributed selection of unpowered electromagnets of the statorsystem 1100; the zero crossing of the voltage signal in each of theelectromagnets can indicate the passing of the corresponding rotormagnets 1160, 1162 over the center of the electromagnet coil. Theposition encoder 1104 and/or the position encoder 1004 of the motorcontroller 1000 can use a high resolution of rotor magnet positions,combined with a Kalman filter to produce a high speed measurement andprediction of blade position/pitch for a large number of blades, inorder to generate motor control signals 1004 with highly precise timing.

Systems and Methods for Variable Blade Pitch Control

The present solution can enable various solutions for independent,variable blade pitch control of the pitch of rotor blades (e.g., rotorblades 124, 126, 1164), allowing for directional control of the VTOLplatform 100 based on the individual and collective pitches (e.g., pitchangle) of the rotor blades. In implementations in which the VTOLplatform 100 is used as a vehicle, it may be desirable to move the VTOLplatform 100 in different directions. The systems and methods describedherein may modify the pitch angle of the rotor blades to achieve anoverall desired movement of the rotor and, thus, the VTOL platform 100.

In some embodiments, the system includes a rotor and a stator. The rotorincludes a first rotor magnetic component aligned with one or more firststator coils. The rotor includes a second rotor magnetic componentaligned with one or more second stator coils and adjacent to the firstrotor magnetic component. The rotor includes an arm connecting the firstrotor magnetic component and the second rotor magnetic component. Afirst arm end of the arm is coupled with the first rotor magneticcomponent and a second arm end of the arm coupled with the second rotormagnetic component which together define an arm angle which changesbased on a first magnetic force applied to the first rotor magneticcomponent relative to a second magnetic force applied to the secondrotor magnetic component. The rotor includes a first rotor blade fixedto the arm, the first rotor blade extending from the arm along a bladepitch axis. The first rotor blade defines a blade pitch angle relativeto the blade pitch axis with the blade pitch angle corresponding to thearm angle. The stator includes a plurality of electromagnets configuredto output at least a first magnetic field that drives the first rotormagnetic component and a second magnetic field that drives the secondrotor magnetic component responsive to control signal(s). The controlsignal(s) cause the first magnetic field to apply the first magneticforce on the first rotor magnetic component and the second magneticfield to apply the second magnetic force on the second magneticcomponent to control the blade pitch angle.

In some embodiments, the system includes a rotor and a stator whichrotates the rotor about a rotational axis. The rotor includes an annularrotor base defining the rotational axis and including a plurality ofrotor segments arranged around the stator. Each rotor segment includes afirst rotor blade configured to be rotated about a blade pitch axisperpendicular to the rotational axis. The rotor segments include a powerreceiver circuit. The rotor segments include a motor that rotates usingpower received via the power receiver circuit for rotating the firstrotor blade about the blade pitch axis. The rotor segments include amotor controller that provides a motor signal to the motor for rotatingthe first rotor blade about the blade pitch axis responsive to a controlsignal. The rotor segments include a first wireless transceiver thatreceives the control signal and provides the control signal to the motorcontroller. The stator includes a second wireless transceiver thatreceives a control command and wirelessly transmits the control signalto the first wireless transceiver based on the control command. Thestator includes a power transmitter circuit that outputs a magneticfield that interacts with the power receiver circuit to provide power tothe power receiver circuit.

Referring now to FIG. 12, a rotor control system 1200 is shown accordingto an embodiment of the present disclosure. The rotor control system1200 can enable frictionless blade pitch control, and can avoiddifficulties that may arise from applying traditional pitch controlapproaches to the form factors achieved by the present solution. Forexample, existing systems typically use a swashplate to transferdirectional control inputs into rotor pitch control. However, whenapplied to a larger radius rotating at a comparable rotation rate, theradial velocity of the hub of the ring may be significantly larger,which can result much larger friction losses, require more material tosupport cyclic loads in fatigue strength resulting in larger moreheavily reinforced bearing solutions, may require intricate coolingmethods, may result in large amounts of wear and more maintenance, andmay increase of mechanical noise from cyclic loading of high speedbearings that could mitigate improved noise performance that couldotherwise be achieved by the annular and electric motor configuration.The rotor control system 1200 can avoid these difficulties by drivingrotor blade rotation using controlled electromagnetic fields across anair gap.

As shown in FIG. 12, the rotor control system 1200 includes a first(e.g., upper) magnet member 1202 supporting the first rotor magnet 1160,and a second (e.g., lower) magnet member 1204 supporting the secondrotor magnet 1162. The first magnet member 1202 is coupled to the secondmagnet member 1204 by an arm 1206. A rotor blade (e.g., rotor blade 1164described with reference to FIG. 11) is fixed to the arm 1206, such thatas the arm 1206 rotates about a pitch axis (extending into the viewshown in FIG. 12) perpendicular to a direction of movement 1208 of themagnet members 1202, 1204 (the direction of movement 1208 being about arotor axis (e.g., rotational axis 122 shown in FIG. 2)), a pitch angle1210 of the rotor blade will vary.

An electromagnet of the upper stator rail 404 outputs a firstelectromagnetic field that applies a first force on the first motormagnet 1160, causing the first magnet member 1202 to be driven forwardin direction 1211. The first force will depend on the electrical currentdriven through the electromagnet of the upper stator rail 404 (asdescribed with reference to FIG. 11) as well as a spatial relationshipbetween the upper stator rail 404 and first motor magnet 1160.Similarly, an electromagnet of the lower stator rail 408 outputs asecond electromagnetic field that applies a second force on the secondrotor magnet 1162 to drive the second magnet member 1204 forward indirection 1212. Based on the initial positions of the magnet members1202, 1204, and the magnitudes of the first and second forces, themagnet members 1202, 1204 will move to positions resulting in a lag/leaddistance 1218 between the magnet members 1202, 1204 (e.g., as measuredfrom planes 1214, 1216 at ends of the magnet members 1202, 1204). Thelag/lead distance 1218 corresponds to the pitch angle 1210, as the arm1206 is fixed to the magnet members 1202, 1204, and will rotate as thelag/lead distance 1218 changes.

In various embodiments, the synchronizing force of the electromagneticfields that the stator (e.g., stator 110, stator system 1100) applies tothe rotor magnets 1160, 1162 may be approximately the same in magnitudeas a maximum driving force of the stator. As such, the rotor controlsystem 1200 can be configured such that the stator and correspondingmagnet members 1202, 1204 (e.g., rotor magnets 1160, 1162) are sized toproduce a moving electromagnetic field across an air gap between thestator rails 404, 408 and magnet members 1202, 1204 which is largeenough that a minimum linear driving force of the stator to anindividual magnet member 1202, 1204, between phases, is larger than amaximum combination of the following forces: the peak blade drag on therotor blade (e.g., rotor blade 1164), a reactionary force of a peakaerodynamic pitching moment about a ¼ cord of the rotor blade, and areactionary force of a maximum blade rotational inertia about afeathering axis of the rotor blade at a maximum cyclic pitch setting inoverspeed operation. In various such embodiments, the number of rotorblades can be selected based on such factors, as too few blades may leadto large magnet arrays mounted to each rotor blade hub, and too manyrotor blades may lead to and increased weight.

Referring now to FIG. 13, a method 1300 for controlling operation of aVTOL platform is shown according to an embodiment of the presentdisclosure. The method 1300 can be implemented using various systems andcomponents disclosed herein, including the VTOL platform 100, the VTOLsystem 300, the flight controller 700, the motor controller 1000, thestator system 1100, and the rotor control system 1200.

At 1305, a flight controller of a VTOL platform receives a movementinstruction indicating a desired movement of the VTOL platform. Theoperation instruction can be received from a user interface configuredto receive a user input. The operation instruction can be received froman autopilot; for example, the desired movement can be indicated to bemovement towards a waypoint of a flight plan.

At 1310, the flight controller generates one or more flight controlcommands based on the desired movement. The flight controller can use aflight dynamics model to generate the one or more flight controlcommands. For example, the flight dynamics controller can use the flightdynamics model to calculate a lift expected to be generated by a rotorof the VTOL platform, given pitch angles of rotor blades of the VTOLplatform. The flight dynamics controller can execute flight dynamicscontrol laws to convert instructions indicative of desired movement(e.g., instructions extracted via operator input indicating desiredmovement to a higher altitude at a particular vertical speed andairspeed), and use the flight dynamics model to determine how to controloperation of the rotor blades to generate lift, yaw, pitch, and/or rollexpected to achieve the desired movement. In some embodiments, theflight controller generates the one or more flight control commands toexecute collective pitch control to cause the VTOL platform to generatelift. In some embodiments, the flight controller generates the one ormore flight control commands to execute cyclic pitch control to causethe VTOL platform to generate movement about pitch and/or roll angles.

At 1315, a motor controller generates one or more motor control signalsbased on the flight control command(s). The motor controller cangenerate the motor control signals to cause specific waveforms to beapplied to electromagnets of a stator of the VTOL platform, in order tocause the electromagnets to output electromagnetic fields expected tocause the VTOL platform to execute the desired movement indicated by themovement instruction. In some embodiments, the motor controller receivesa position signal indicating positions of rotor blades of the rotor,which the motor controller can use to generate the motor control signalsto individually control operation of each rotor blade. The motorcontroller can generate the motor control signals and provide the motorcontrol signals, via one or more transceivers, to control operation ofmotors coupled with the rotor blades to rotate the rotor blades todesired pitch angles.

At 1320, the stator drives the electromagnets of the stator based on themotor control signals. For example, the stator can use a plurality ofmagnet controllers to drive electrical signals at desired current and/orvoltage to each electromagnet based on the motor control signals. Themagnet controllers can execute PWM to drive electrical signals througheach electromagnet. In some embodiments, the magnet controllers operateswitch circuits, such as MOSFET circuits, to selectively driveelectrical signals through each electromagnet based on the motor controlsignals. In some embodiments, levitation/guidance magnets of the statoroutput magnetic fields that interact with corresponding magnets of therotor to rotate the rotor.

At 1325, the electromagnets output electromagnetic fields correspondingto the electrical signals driven through each electromagnet. Magnets ofthe rotor are in turn moved by the electromagnetic fields. In someembodiments, the rotor includes a plurality of rotor blades, eachcoupled to a pair of magnets via a rotor arm, such that selectivemovement of the magnets can vary a pitch angle of the rotor blade,resulting in desired lift, yaw, pitch, and/or roll. In some embodiments,motors of the rotor receive power via the electromagnetic fields and usethe power to rotate respective rotor blades.

Referring now to FIGS. 14A and 14B, a rotor control system 1400 is shownaccording to an embodiment of the present disclosure. Various elementsand components shown in the embodiment depicted in FIGS. 14A and 14B aresimilar to those elements and components described above with referenceto FIG. 1-13. Therefore, the same reference numerals are used toindicate similar features. The rotor control system 1400 is shown toinclude a blade controller 1402. The blade controller 1402 may be anyelement, device, component, script, etc. designed or implemented tocontrol movement of rotor blades 124, 126 to produce or achieve adesired movement. The blade controller 1402 may be similar in someaspects to the flight controller 700 described above. In someimplementations, the blade controller 1402 may be embodied on or acomponent of the flight controller 700. The blade controller 1402 may beconfigured to determine a desired pitch angle for the rotor blade(s)124, 126 (e.g., a blade pitch angle). The blade controller 1402 maydetermine (e.g., based on a maintained ledger of commands, based on datafrom an encoder coupled directly or indirectly to the rotor blade 124,126, etc.) a current position of the rotor blade(s) 124, 126. The bladecontroller 1402 may be configured to modify the pitch angle for therotor blade(s) 124, 126 to achieve the desired pitch angle to result ina desired movement. As described in greater detail below, the bladecontroller 1402 may be configured to generate motor control signals to amotor 1404 coupled to the rotor blade(s) 124, 126 to move the rotorblade(s) 124, 126 to the desired pitch angle.

The blade controller 1402 may be configured to generate motor controlsignals for communicating to the motor 1404 to move the motor 1404. Insome implementations, the blade controller 1402 may generate a PulseWidth Modulated (PWM) signal for the motor 1404. The PWM signal may havea duty cycle which moves the motor a certain number of steps orrotational angle. The blade controller 1402 may communicate the motorcontrol signals to the motor through the stator 110. In someimplementations, each rotor blade 124, 126 may correspond to a dedicatedblade controller 1402. In other implementations, a plurality of rotorblades 124, 126 may be controlled by a common blade controller 1402.

The blade controller 1402 is shown to be coupled to a transceiver 1406of the stator 110, which is communicably coupled to a transceiver 1408of the rotor 120. The transceivers 1406, 1408 may be any device(s),component(s), element(s), circuit(s), etc. designed or implemented towirelessly transmit data over a distance. The transceivers 1406, 1408may be configured to communicate according to various protocols. Forinstance, the transceivers 1406, 1408 may be configured to communicatevia a ZigBee (e.g., high frequency) data transmission protocol. In stillother embodiments, the transceivers 1406, 1408 may be configured tocommunicate via a Near-Field Communication (NFC) protocol, a RadioFrequency Identification (RFID) protocol, an Infrared (IR) or otherfree-space optical communication transmission protocol, etc.

The stator 110 is shown to include a power transmission circuit 1410.The power transmission circuit 1410 may be any device(s), component(s),element(s), or circuit(s) designed or implemented to transmit power overa distance. The rotor 120 may correspondingly include a power receivingcircuit 1412. The power receiving circuit 1412 may be any device(s),component(s), element(s), or circuit(s) designed or implemented toreceive power over a distance. The power transmission circuit 1410 andpower receiving circuit 1412 may be coupled to each other such that thepower transmission circuit 1410 wirelessly transmits power to the powerreceiving circuit 1412. In some implementations, the power transmissioncircuit 1410 and power receiving circuit 1412 may be coupled to eachother via magnetodynamic coupling. In other implementations, the powertransmission circuit 1410 and power receiving circuit 1412 may becoupled to one other via inductive coupling (e.g., Qi or some other formof inductive coupling), resonant inductive coupling, laser coupling, andso forth. The power receiving circuit 1412 may be configured to transferpower received from the power transmission circuit 1410 to thetransceiver 1408 of the rotor 120 and to the motor 1404. Thus, thetransceiver 1408 and motor 1404 may be wirelessly powered. In someimplementations, the power receiver circuit 1412 may include arectification circuit (e.g., via sets of diodes) to rectify an AC supplyto drive a DC load as needed. In some implementations, the powerreceiver circuit 1412 may include a step-up or step-down circuit forstepping up (or stepping down) a voltage/current/power to drive aparticular load or device (such as the motor 1404 or transceiver 1408 ofthe rotor 120).

The transceiver 1408 of the rotor 120 may be configured to wirelesslyreceive motor control signals from the transceiver 1406 of the stator110. The transceiver 1408 may be configured to provide the motor controlsignals to the motor 1404. The motor 1404 may be configured to drive therotor blade(s) 124, 126. The motor 1404 may be or include various typesof motor 1404 designed or implemented to control the position of therotor blade(s) 124, 126 For instance, the motor 1404 may be an Air-CoreBM-BLDC motor. In other embodiments, the motor 1404 may be a steppermotor, a gear tooth servo actuator (e.g., remote controlled (RC)) motor,an Iron-Core PM-BLDC, or other type of motor. The motor 1404 may beconfigured to receive the motor control signals from the bladecontroller 1402 via the transceivers 1406, 1408. The rotor 120 mayinclude an encoder coupled to the motor 1404 and/or rotor blade(s) 124,126 configured to detect a position of the motor 1404 and/or rotorblade(s) 124, 126. The encoder may be configured to provide datacorresponding to the position of the motor 1404/rotor blade(s) 124, 126to the blade controller 1402, which the blade controller 1402 uses asfeedback for adjusting the position of the rotor blade(s) 124, 126.

References to “or” may be construed as inclusive so that any termsdescribed using “or” may indicate any of a single, more than one, andall of the described terms. References to at least one of a conjunctivelist of terms may be construed as an inclusive OR to indicate any of asingle, more than one, and all of the described terms. For example, areference to “at least one of ‘A’ and ‘B’” can include only ‘A’, only‘B’, as well as both ‘A’ and ‘B’. Such references used in conjunctionwith “comprising” or other open terminology can include additionalitems.

The construction and arrangement of the systems and methods as shown inthe various exemplary embodiments are illustrative only. Although onlyexample embodiments have been described in detail in this disclosure,many modifications are possible (e.g., variations in sizes, dimensions,structures, shapes and proportions of the various elements, values ofparameters, mounting arrangements, use of materials, colors,orientations, etc.). For example, the position of elements can bereversed or otherwise varied and the nature or number of discreteelements or positions can be altered or varied. Accordingly, suchmodifications are intended to be included within the scope of thepresent disclosure. The order or sequence of any process or method stepscan be varied or re-sequenced according to alternative embodiments.Other substitutions, modifications, changes, and omissions can be madein the design, operating conditions and arrangement of the exemplaryembodiments without departing from the scope of the present disclosure.

The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Combinationsof the above are also included within the scope of machine-readablemedia. Machine-executable instructions include, for example,instructions and data which cause a general purpose computer, specialpurpose computer, or special purpose processing machines to perform acertain function or group of functions.

Although the figures show a specific order of method steps, the order ofthe steps may differ from what is depicted. Also two or more steps maybe performed concurrently or with partial concurrence. Such variationwill depend on the software and hardware systems chosen and on designerchoice. All such variations are within the scope of the disclosure.Likewise, software implementations could be accomplished with standardprogramming techniques with rule based logic and other logic toaccomplish the various connection steps, processing steps, comparisonsteps and decision steps.

What is claimed is:
 1. A system, comprising: a rotor configured to abouta rotational axis, the rotor comprising: a rotor sidewall; at least onerotor blade rotatably coupled with the sidewall along a first surface ofthe side wall, the at least one rotor blade rotating about a blade axisextending transverse the side wall; and a first rotor magnet and asecond rotor magnet coupled with the sidewall along a second surface ofthe rotor sidewall opposite the first surface; a stator, comprising: aplurality of first stator magnets circumferentially arranged along astator sidewall facing the rotor sidewall, at least one of the pluralityof first stator magnets proximate to the first rotor magnet; a pluralityof second stator magnets spaced from respective first stator magnets andcircumferentially arranged along the stator sidewall, at least one ofthe plurality of second stator magnets proximate to the second rotormagnet; and a magnet controller electrically coupled to the plurality offirst stator magnets and the plurality of second stator magnets, themagnet controller controlling the plurality of first stator magnets at afirst switching rate and controlling the plurality of second statormagnets at a second switching rate to produce rotation of the rotorblade about the blade axis.
 2. The system of claim 1, wherein the atleast one rotor blade includes a plurality of rotor blades, and themagnet controller causes at least one first stator magnet to output amagnetic field that causes each rotor blade of the plurality of rotorblades to have a target pitch angle about the blade axis as the rotorblade passes by the at least one first stator magnet.
 3. The system ofclaim 1, wherein the at least one rotor blade includes a plurality ofrotor blades, and the magnet controller causes the plurality of firststator magnets to output respective magnetic fields that cause theplurality of rotor blades to each have respective target pitch anglesabout respective blade axes as a function of rotational position aboutthe rotational axis, the target pitch angles corresponding to a targetcollective pitch of the rotor relative to the rotational axis.
 4. Thesystem of claim 1, wherein the plurality of first stator magnets and theplurality of second stator magnets are electromagnets configured tooutput at least a first magnetic field that drives the first rotormagnet and a second magnetic field that drives the second rotor magnetresponsive to at least one control signal, wherein the magnet controlleris configured to cause the first magnetic field to apply the firstmagnetic force on the first rotor magnetic component and the secondmagnetic field to apply the second magnetic force on the second magneticcomponent to control the blade pitch angle.
 5. The system of claim 1,wherein the rotor blade is feathered to be biased to a neutral bladeangle.
 6. The system of claim 1, wherein the magnet controller controlsa magnitude of respective magnetic fields outputted by each first statormagnet of the plurality of first stator magnets to control a rotationalvelocity of the rotor about the rotational axis.
 7. The system of claim1, further comprising a position encoder that detects a position of eachrotor blade, the magnet controller uses the position of each rotor bladeas feedback to control the plurality of first stator magnets and theplurality of second stator magnets.
 8. The system of claim 1, whereinthe plurality of first stator magnets a plurality of electromagneticcoils.
 9. The system of claim 1, wherein the magnet controller controlsthe plurality of first stator magnets and the plurality of second statormagnets to rotate the rotor about the rotational axis.
 10. The system ofclaim 1, wherein the at least one rotor blade is a first rotor blade andthe rotor magnet is a first rotor magnet corresponding to the firstrotor blade, the first rotor blade configured to rotate about therotational axis in a first direction, and wherein the rotor furthercomprises: a second rotor blade spaced apart from the first rotor blade,the second rotor blade coupled with and transverse the sidewall along afirst surface of the sidewall; and a second rotor magnet correspondingto the second rotor blade, the second rotor magnet being driven to drivethe second rotor blade in a second direction about the rotational axisopposite the first direction.
 11. A method, comprising: providing arotor configured to about a rotational axis, the rotor including a rotorsidewall, at least one rotor blade rotatably coupled with the sidewallalong a first surface of the side wall, and a first rotor magnet and asecond rotor magnet coupled with the sidewall along a second surface ofthe rotor sidewall opposite the first surface, wherein the at least onerotor blade rotates about a blade axis extending transverse the sidewall; providing a stator including a plurality of first stator magnetscircumferentially arranged along a stator sidewall facing the rotorsidewall, and a plurality of second stator magnets spaced fromrespective first stator magnets and circumferentially arranged along thestator sidewall, wherein at least one of the plurality of first statormagnets proximate to the first rotor magnet, and at least one of theplurality of second stator magnets proximate to the second rotor magnet;generating one or more first control signals for the plurality of firststator magnets to control the plurality of first stator magnets at afirst switching rate; and generating one or more second control signalsfor the plurality of second stator magnets to control the plurality ofsecond stator magnets at a second switching rate, to produce rotation ofthe rotor blade about the blade axis.
 12. The method of claim 11,wherein the at least one rotor blade includes a plurality of rotorblades, and the method further comprises causing at least one firststator magnet to output a magnetic field that causes each rotor blade ofthe plurality of rotor blades to have a target pitch angle about theblade axis as the rotor blade passes by the at least one first statormagnet.
 13. The method of claim 11, wherein the at least one rotor bladeincludes a plurality of rotor blades, and the method further comprisescausing the plurality of first stator magnets to output respectivemagnetic fields that cause the plurality of rotor blades to each haverespective target pitch angles about respective blade axes as a functionof rotational position about the rotational axis, the target pitchangles corresponding to a target collective pitch of the rotor relativeto the rotational axis.
 14. The method of claim 11, wherein theplurality of first stator magnets and the plurality of second statormagnets are electromagnets configured to output at least a firstmagnetic field that drives the first rotor magnet and a second magneticfield that drives the second rotor magnet responsive to at least onecontrol signal, wherein the method further comprises causing the firstmagnetic field to apply the first magnetic force on the first rotormagnetic component and the second magnetic field to apply the secondmagnetic force on the second magnetic component to control the bladepitch angle.
 15. The method of claim 11, further comprising controllinga magnitude of respective magnetic fields outputted by each first statormagnet of the plurality of first stator magnets to control a rotationalvelocity of the rotor about the rotational axis.
 16. The method of claim11, further comprising: detecting, based on a position encoder, aposition of each rotor blade; wherein generating the one or more firstcontrol signals and the one or more second control signals is based onthe position of each rotor blade as feedback.
 17. The system of claim11, further comprising controlling the plurality of first stator magnetsand the plurality of second stator magnets to rotate the rotor about therotational axis.
 18. A vehicle, comprising: a rotor configured to abouta rotational axis, the rotor comprising: a rotor sidewall; at least onerotor blade rotatably coupled with the sidewall along a first surface ofthe side wall, the at least one rotor blade rotating about a blade axisextending transverse the side wall; and a first rotor magnet and asecond rotor magnet coupled with the sidewall along a second surface ofthe rotor sidewall opposite the first surface; a stator, comprising: aplurality of first stator magnets circumferentially arranged along astator sidewall facing the rotor sidewall, at least one of the pluralityof first stator magnets proximate to the first rotor magnet; a pluralityof second stator magnets spaced from respective first stator magnets andcircumferentially arranged along the stator sidewall, at least one ofthe plurality of second stator magnets proximate to the second rotormagnet; and a magnet controller electrically coupled to the plurality offirst stator magnets and the plurality of second stator magnets, themagnet controller controlling the plurality of first stator magnets at afirst switching rate and controlling the plurality of second statormagnets at a second switching rate to produce rotation of the rotorblade about the blade axis.
 19. The vehicle of claim 18, wherein therotor blade is feathered to be biased to a neutral blade angle.